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Note

If you have not read the information explaining the custom path feature, then please refer to this page before reading onwards: Customize the Robot's Path

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Table of Contents
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In Short: MovePerformed

MovePerformed

A boolean value that Pally uses to check if it should move the robot

with

on the path created by Pally.

note

This value must be set to True in the afterGrab- and afterRelease-callbacks if the custom path feature is in use.

Possible values

  • True - Pally will NOT move the robot

from the pickup position to the target position (and back again)

  • on the path created by Pally.

  • False - Pally will

not

  • move the robot

from the pickup position to the target position (and back again)

Example

If a customPath.script is defined with two functions MoveToTarget() and MoveBack(), and rf_custom_path = True; then MovePerformed must be set at the end of both MoveToTarget() and MoveBack() as follows:

  • MovePerformed = True

The MoveToTarget() and MoveBack() functions must then be called in the

  • on the default calculated path. This is the default value.

Note

The variable must be set to True in the onNextTask-, afterGrab- and afterRelease-callbacks

respectively.

if the custom path feature is in use for the corresponding robot movement.

Example

  • Use the Assignment program node directly in Polyscope, or

  • Write URScript code directly:

    • movel(MoveTarget)

    • MovePerformed = True

In Detail: MovePerformed

The MovePerformed variable is only of importance when the custom path feature is in use. If this boolean variable is set to True, then Pally will skip its next planned movement. Depending on where the variable is set to True the following movements will be skipped:

  • onNextTask: skip movement to the pick position (available in Pally 2.9.0 and later)

  • afterGrab: skip movement from the pick position to the target position on the pallet

  • afterRelease: skip movement from the target position back to the waiting position

of the robot to- and from the pickup position, to the target position (and back again).

In the Pally code, the logic looks like this:

Code Block
languagepy
global MovePerformed = False

# USERCALLBACK
usercallback_onNextTask()

if (not MovePerformed):
  MoveToPickup(path)
end

# USERCALLBACK
usercallback_beforeGrab()

If MovePerformed is set to True in the onNextTask-callback, then Pally will not call on the function to move the robot to the pick position

Code Block
languagepy
global MovePerformed = False

# USERCALLBACK
usercallback_afterGrab()

if (not MovePerformed):
  MoveToTarget(path)
end

...

Code Block
languagepy
global MovePerformed = False

# USERCALLBACK
usercallback_afterRelease()

if (not MovePerformed):
  MoveFromTargetMoveBackFromTarget(path)
end

If MovePerformed is set to True in the afterRelease-callback, then Pally will not call on the function to move the robot back from the target position

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An example of a customPath.script, notice the use of MovePerformed at lines 80 and 94

To review how to use the custom path feature, refer to Customize the Robot's Path .